Author: bugman
Date: Tue Sep 8 21:07:41 2009
New Revision: 9487
URL: http://svn.gna.org/viewcvs/relax?rev=9487&view=rev
Log:
Added a unit test to bounce around all the conversion functions in
maths_fns.rotation_matrix.
This bounces through:
1) euler_zyz_to_R().
2) R_to_axis_angle().
3) axis_angle_to_quaternion().
4) quaternion_to_axis_angle().
5) axis_angle_to_R().
6) R_to_quaternion().
7) quaternion_to_R().
8) R_to_euler_zyz().
Modified:
1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py
Modified: 1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py
URL:
http://svn.gna.org/viewcvs/relax/1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py?rev=9487&r1=9486&r2=9487&view=diff
==============================================================================
--- 1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py (original)
+++ 1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py Tue Sep 8
21:07:41 2009
@@ -201,122 +201,8 @@
self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
- def test_euler_zyz_to_R_alpha_30(self):
- """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(pi/6, 0.0, 0.0, R)
-
- # Rotated pos axes (real values).
- x_real_pos = array([cos(pi/6), sin(pi/6), 0], float64)
- y_real_pos = array([-sin(pi/6), cos(pi/6), 0], float64)
- z_real_pos = array([0, 0, 1], float64)
-
- # Rotated neg axes (real values).
- x_real_neg = array([-cos(pi/6), -sin(pi/6), 0], float64)
- y_real_neg = array([sin(pi/6), -cos(pi/6), 0], float64)
- z_real_neg = array([0, 0, -1], float64)
-
- # Check the rotation.
- self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
-
-
- def test_euler_zyz_to_R_beta_45(self):
- """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(0.0, pi/4, 0.0, R)
-
- # Rotated pos axes (real values).
- x_real_pos = array([cos(pi/4), 0, -sin(pi/4)], float64)
- y_real_pos = array([0, 1, 0], float64)
- z_real_pos = array([sin(pi/4), 0, cos(pi/4)], float64)
-
- # Rotated neg axes (real values).
- x_real_neg = array([-cos(pi/4), 0, sin(pi/4)], float64)
- y_real_neg = array([0, -1, 0], float64)
- z_real_neg = array([-sin(pi/4), 0, -cos(pi/4)], float64)
-
- # Check the rotation.
- self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
-
-
- def test_euler_zyz_to_R_gamma_15(self):
- """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(0.0, 0.0, pi/12, R)
-
- # Rotated pos axes (real values).
- x_real_pos = array([cos(pi/12), sin(pi/12), 0], float64)
- y_real_pos = array([-sin(pi/12), cos(pi/12), 0], float64)
- z_real_pos = array([0, 0, 1], float64)
-
- # Rotated neg axes (real values).
- x_real_neg = array([-cos(pi/12), -sin(pi/12), 0], float64)
- y_real_neg = array([sin(pi/12), -cos(pi/12), 0], float64)
- z_real_neg = array([0, 0, -1], float64)
-
- # Check the rotation.
- self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
-
-
- def test_euler_zyz_to_R_alpha_15_gamma_15(self):
- """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(pi/12, 0.0, pi/12, R)
-
- # Rotated pos axes (real values).
- x_real_pos = array([cos(pi/6), sin(pi/6), 0], float64)
- y_real_pos = array([-sin(pi/6), cos(pi/6), 0], float64)
- z_real_pos = array([0, 0, 1], float64)
-
- # Rotated neg axes (real values).
- x_real_neg = array([-cos(pi/6), -sin(pi/6), 0], float64)
- y_real_neg = array([sin(pi/6), -cos(pi/6), 0], float64)
- z_real_neg = array([0, 0, -1], float64)
-
- # Check the rotation.
- self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
-
-
- def test_R_to_axis_angle_no_rot(self):
- """Test the rotation matrix to axis-angle conversion."""
-
- # Generate the rotation matrix.
- R = array([[1, 0, 0], [0, 1, 0], [0, 0, 1]], float64)
-
- # Get the axis and angle.
- axis, angle = R_to_axis_angle(R)
-
- # Test the angle.
- self.assertEqual(angle, 0.0)
-
-
- def test_R_to_axis_angle_180_complex(self):
- """Test the rotation matrix to axis-angle conversion."""
-
- # Generate the rotation matrix.
- R = array([[0, 0, 1], [1, 0, 0], [0, 1, 0]], float64)
-
- # Get the axis and angle.
- axis, angle = R_to_axis_angle(R)
-
- # Test the angle.
- self.assertEqual(angle, 2 * pi / 3)
-
- # Test the vector.
- for i in range(3):
- self.assertAlmostEqual(axis[i], 1.0/sqrt(3))
-
-
- def test_R_to_euler_zyz(self):
- """Test the rotation matrix to zyz Euler angle conversion."""
+ def test_euler_zyz_to_euler_zyz(self):
+ """Bounce around all the conversion functions to see if the original
angles are returned."""
# Starting angles.
alpha = uniform(0, 2*pi)
@@ -329,12 +215,35 @@
print(("beta: %s" % beta))
print(("gamma: %s\n" % gamma))
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
+ # Init.
+ axis = zeros(3, float64)
+ quat = zeros(4, float64)
+ R = zeros((3, 3), float64)
+
+ # 1) Euler angles to rotation matrix.
euler_zyz_to_R(alpha, beta, gamma, R)
- # Get back the angles.
+ # 2) Rotation matrix to axis-angle.
+ axis, angle = R_to_axis_angle(R)
+
+ # 3) Axis-angle to quaternion.
+ axis_angle_to_quaternion(axis, angle, quat)
+
+ # 4) Quaternion to axis-angle.
+ axis, angle = quaternion_to_axis_angle(quat)
+
+ # 5) Axis-angle to rotation matrix.
+ axis_angle_to_R(axis, angle, R)
+
+ # 6) Rotation matrix to quaternion.
+ R_to_quaternion(R, quat)
+
+ # 7) Quaternion to rotation matrix.
+ quaternion_to_R(quat, R)
+
+ # 8) Rotation matrix to Euler angles.
alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
+
# Wrap the angles.
alpha_new = wrap_angles(alpha_new, 0, 2*pi)
@@ -353,6 +262,158 @@
self.assertAlmostEqual(gamma, gamma_new)
+ def test_euler_zyz_to_R_alpha_30(self):
+ """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ euler_zyz_to_R(pi/6, 0.0, 0.0, R)
+
+ # Rotated pos axes (real values).
+ x_real_pos = array([cos(pi/6), sin(pi/6), 0], float64)
+ y_real_pos = array([-sin(pi/6), cos(pi/6), 0], float64)
+ z_real_pos = array([0, 0, 1], float64)
+
+ # Rotated neg axes (real values).
+ x_real_neg = array([-cos(pi/6), -sin(pi/6), 0], float64)
+ y_real_neg = array([sin(pi/6), -cos(pi/6), 0], float64)
+ z_real_neg = array([0, 0, -1], float64)
+
+ # Check the rotation.
+ self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
+
+
+ def test_euler_zyz_to_R_beta_45(self):
+ """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ euler_zyz_to_R(0.0, pi/4, 0.0, R)
+
+ # Rotated pos axes (real values).
+ x_real_pos = array([cos(pi/4), 0, -sin(pi/4)], float64)
+ y_real_pos = array([0, 1, 0], float64)
+ z_real_pos = array([sin(pi/4), 0, cos(pi/4)], float64)
+
+ # Rotated neg axes (real values).
+ x_real_neg = array([-cos(pi/4), 0, sin(pi/4)], float64)
+ y_real_neg = array([0, -1, 0], float64)
+ z_real_neg = array([-sin(pi/4), 0, -cos(pi/4)], float64)
+
+ # Check the rotation.
+ self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
+
+
+ def test_euler_zyz_to_R_gamma_15(self):
+ """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ euler_zyz_to_R(0.0, 0.0, pi/12, R)
+
+ # Rotated pos axes (real values).
+ x_real_pos = array([cos(pi/12), sin(pi/12), 0], float64)
+ y_real_pos = array([-sin(pi/12), cos(pi/12), 0], float64)
+ z_real_pos = array([0, 0, 1], float64)
+
+ # Rotated neg axes (real values).
+ x_real_neg = array([-cos(pi/12), -sin(pi/12), 0], float64)
+ y_real_neg = array([sin(pi/12), -cos(pi/12), 0], float64)
+ z_real_neg = array([0, 0, -1], float64)
+
+ # Check the rotation.
+ self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
+
+
+ def test_euler_zyz_to_R_alpha_15_gamma_15(self):
+ """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ euler_zyz_to_R(pi/12, 0.0, pi/12, R)
+
+ # Rotated pos axes (real values).
+ x_real_pos = array([cos(pi/6), sin(pi/6), 0], float64)
+ y_real_pos = array([-sin(pi/6), cos(pi/6), 0], float64)
+ z_real_pos = array([0, 0, 1], float64)
+
+ # Rotated neg axes (real values).
+ x_real_neg = array([-cos(pi/6), -sin(pi/6), 0], float64)
+ y_real_neg = array([sin(pi/6), -cos(pi/6), 0], float64)
+ z_real_neg = array([0, 0, -1], float64)
+
+ # Check the rotation.
+ self.check_rotation(R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg)
+
+
+ def test_R_to_axis_angle_no_rot(self):
+ """Test the rotation matrix to axis-angle conversion."""
+
+ # Generate the rotation matrix.
+ R = array([[1, 0, 0], [0, 1, 0], [0, 0, 1]], float64)
+
+ # Get the axis and angle.
+ axis, angle = R_to_axis_angle(R)
+
+ # Test the angle.
+ self.assertEqual(angle, 0.0)
+
+
+ def test_R_to_axis_angle_180_complex(self):
+ """Test the rotation matrix to axis-angle conversion."""
+
+ # Generate the rotation matrix.
+ R = array([[0, 0, 1], [1, 0, 0], [0, 1, 0]], float64)
+
+ # Get the axis and angle.
+ axis, angle = R_to_axis_angle(R)
+
+ # Test the angle.
+ self.assertEqual(angle, 2 * pi / 3)
+
+ # Test the vector.
+ for i in range(3):
+ self.assertAlmostEqual(axis[i], 1.0/sqrt(3))
+
+
+ def test_R_to_euler_zyz(self):
+ """Test the rotation matrix to zyz Euler angle conversion."""
+
+ # Starting angles.
+ alpha = uniform(0, 2*pi)
+ beta = uniform(0, pi)
+ gamma = uniform(0, 2*pi)
+
+ # Print out.
+ print("Original angles:")
+ print(("alpha: %s" % alpha))
+ print(("beta: %s" % beta))
+ print(("gamma: %s\n" % gamma))
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ euler_zyz_to_R(alpha, beta, gamma, R)
+
+ # Get back the angles.
+ alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
+
+ # Wrap the angles.
+ alpha_new = wrap_angles(alpha_new, 0, 2*pi)
+ beta_new = wrap_angles(beta_new, 0, 2*pi)
+ gamma_new = wrap_angles(gamma_new, 0, 2*pi)
+
+ # Print out.
+ print("New angles:")
+ print(("alpha: %s" % alpha_new))
+ print(("beta: %s" % beta_new))
+ print(("gamma: %s\n" % gamma_new))
+
+ # Checks.
+ self.assertAlmostEqual(alpha, alpha_new)
+ self.assertAlmostEqual(beta, beta_new)
+ self.assertAlmostEqual(gamma, gamma_new)
+
+
def test_R_to_quaternion_no_rot(self):
"""Test the rotation matrix to quaternion conversion for a zero
angle rotation."""
r9487 - /1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py